Posted on August 18, 2017 at 18:12Google 'Sigma Delta'. You can find some good papers on how it works. But basically it ends up being a weighted average. In your example of a floor at an angle, more photons are returned by the surface nearest the sensor, so you will get an answer that is nearer than you would get from a straight average.
Does it calculate the arrival time of each photon its receives within a certain interval and then do a weighted average on them all to calculate the distance?? Yes. Exactly right. But objects nearer to the sensor are going to reflect more light and get counted more heavily than the same object farther away.
Very nice experiment by the way.
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